﻿using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using MotionPlanning.MotionPlanningPrimitives;

namespace MotionPlanning.MotionPlanningAlgorithms.RRT_Standard
{
    ///
    /// EdgeData for RRT
    ///
    public class EdgeData_RRT : RoboticsPlanningEdgeData
    {
        public EdgeData_RRT(double c_inc)
            : base(c_inc)
        {
        }
        public EdgeData_RRT(double c_inc, double[] ctrl_inc)
            : base(c_inc,ctrl_inc)
        {
        }
        public EdgeData_RRT()
            : base()
        { }
        public override string ToString()
        {
            string content = "";
            content += this.utility_inc_c + ",";
            if (this.ctrl_inc != null)
                for (int i = 0; i < ctrl_inc.Length; ++i)
                {
                    content += ctrl_inc[i];
                    if (i < ctrl_inc.Length - 1)
                        content += ",";
                }
            return content;
        }
    }
}
